WO2018159256A1

WO2018159256A1 - Takeoff and landing device, takeoff and landing system, and unmanned delivery system

Info

Publication number: WO2018159256A1
Application number: PCT/JP2018/004444
Authority: WO
Inventors: 透乃津川; 要北川
Original assignee: 株式会社イシダ
Priority date: 2017-03-01
Filing date: 2018-02-08
Publication date: 2018-09-07
Also published as: US20200062395A1; US11713120B2; CN110382354B; JP6864393B2; JPWO2018159256A1; CN110382354A

Abstract

A takeoff and landing device (5) is provided with: a fixed device (55) or a communication unit (57) that can switch between a first state in which an unmanned aircraft (3) is prevented from taking off from a host device, and a second state in which the unmanned aircraft (3) is not prevented from taking off; a weight acquisition unit (337A, 60A) that acquires the weight of an article delivered by the unmanned aircraft (3); and a takeoff control unit (337B) or a takeoff control unit (60B) that switches the state of the fixed device (55) or the communication unit (57) to the first state or the second state on the basis of a reference value for determining whether the weight of the article acquired by the weight acquisition unit (337A, 60A) constitutes an overload.

Description

Take-off and landing device, take-off and landing system and unmanned delivery system

One aspect of the present invention relates to a take-off and landing device, a take-off and landing system, and an unmanned delivery system.

An unmanned aerial vehicle (so-called drone) that is controlled by remote operation or autonomously flying by a program is known. In recent years, it has been proposed to use such unmanned aerial vehicles in various fields. For example, Patent Documents 1 and 2 disclose systems that deliver articles using unmanned aerial vehicles.

Japanese Unexamined Patent Publication No. 2016-151989 JP 2016-153337 A

Unmanned aerial vehicles are more susceptible to wind and other disturbances if the weight of the delivered goods (loading weight) is greater than the weight of the unmanned aircraft. If an unmanned aerial vehicle is subjected to such disturbance, the intended control cannot be performed, which may hinder safe flight. For this reason, when delivering goods using an unmanned aerial vehicle, not only will a law prohibiting flying in a state where the loaded weight exceeds a predetermined value (hereinafter referred to as “overloading”), A mechanism to comply with the law is required.

Accordingly, an object of one aspect of the present invention is to provide a take-off and landing device, a take-off and landing system, and an unmanned delivery system that can prevent an unmanned aircraft from flying in an overloaded state.

A take-off and landing device for an unmanned aerial vehicle according to one aspect of the present invention is a take-off and landing device in which an unmanned aircraft for delivering an article is taken off and landing, and a first state in which the unmanned aircraft is prevented from taking off from its own device. A take-off prevention unit that can be switched to a second state that is not blocked, a weight acquisition unit that acquires the weight of an article delivered by an unmanned aerial vehicle, and the weight and overload of the article acquired by the weight acquisition unit And a first control unit that switches the state of the takeoff prevention unit to the first state or the second state based on the reference value for determining whether or not.

In this unmanned aerial vehicle take-off and landing device, the control unit acquires the weight of an article loaded on the unmanned aircraft to be taken off from the take-off and landing device, and when it is determined that the weight is overloaded, the take-off prevention is performed. The unit is controlled to be in the first state, and the unmanned aircraft is prevented from taking off. Thereby, since the unmanned aircraft in the overload state cannot take off from the take-off and landing device, the unmanned aircraft can be prevented from flying in the overload state.

In the unmanned aircraft take-off and landing device according to one aspect of the present invention, the take-off prevention unit is a fixing device that fixes the unmanned aircraft to the own device, and the fixing device includes a first state that fixes the unmanned aircraft to the own device, and the self-device. It may be possible to switch to the second state in which the unmanned aircraft is not fixed to the apparatus.

In this unmanned aircraft take-off and landing device, a fixing device that prevents the unmanned aircraft from taking off by fixing the unmanned aircraft to the own device is adopted as the take-off prevention unit. That is, in this take-off and landing device, even if the unmanned aircraft is about to take off, the unmanned aircraft cannot be taken off because it is physically fixed to the take-off and landing device. Thereby, take-off of the unmanned aircraft in an overloaded state can be prevented with a simple structure.

In the unmanned aircraft take-off and landing device according to one aspect of the present invention, the take-off prevention unit is a transmission unit that transmits a control signal that causes the unmanned aircraft to perform a flight operation, and the transmission unit is a first state that prohibits transmission of the control signal. And a second state in which transmission of the control signal is permitted.

In this unmanned aerial vehicle take-off and landing device, a transmission unit that prevents the unmanned aircraft from taking off by not transmitting a control signal for causing the unmanned aircraft to fly is adopted as a take-off prevention unit. That is, in this take-off and landing device, since the control signal for taking off the unmanned aircraft is not transmitted, the unmanned aircraft does not take off. Thereby, take-off of the unmanned aircraft in an overloaded state can be prevented with a simple configuration.

The unmanned aircraft take-off and landing device according to one aspect of the present invention further includes a first weight detection unit that measures the weight of an article to be delivered, and the weight acquisition unit acquires the weight of the article from the first weight detection unit. Good.

In this unmanned aerial vehicle take-off and landing device, for example, the weight of the unmanned aircraft loaded with the article is measured, and the weight of the article is calculated by subtracting the weight of the unmanned airplane stored in advance. Since the weight of the article is measured by a first weight detection unit such as a load cell, it is possible to more accurately determine the overloading state than when estimating the weight of the article. In addition, a weight detection unit having a wider weight measurement range than the weight detection unit (second weight detection unit) mounted on the unmanned aerial vehicle can be employed. That is, even heavier weights can be measured.

A take-off and landing device for an unmanned aerial vehicle according to one aspect of the present invention includes a remaining amount acquisition unit that acquires a remaining amount of an energy source of a power source mounted on the unmanned aircraft, a weight of an article loaded on the unmanned aircraft, and a remaining amount A cruising information storage unit that stores cruising information that is a relationship with a cruising distance or cruising time of an unmanned aircraft, a delivery destination information acquisition unit that acquires a delivery distance or delivery time from the current position to the delivery destination of the article, The first control unit, the weight of the article acquired by the weight acquisition unit, the remaining amount acquired from the remaining amount acquisition unit, the delivery distance or delivery time acquired from the delivery destination information acquisition unit, Based on the cruising information, it is determined whether the unmanned aircraft can navigate to the delivery destination, and if it is determined that navigation is not possible, the state in the take-off prevention unit is switched to the first state, and if it is determined that navigation is possible, the take-off prevention unit State to second state Toggles may be.

This unmanned aerial vehicle take-off and landing device determines not only overloading but also whether or not the unmanned aircraft can navigate to the delivery destination, and permits the unmanned aircraft to take off based on the determination. Thereby, an unmanned aerial vehicle can be navigated more safely.

An unmanned aerial vehicle takeoff and landing system according to one aspect of the present invention has a second weight detection unit that measures the weight of an article to be delivered, and delivers the article by flying based on a control signal that controls the flight of the own device. The unmanned aerial vehicle and the take-off and landing device described above may be included, and the weight acquisition unit may acquire the weight of the article from the second weight detection unit.

In this unmanned aerial vehicle take-off and landing system, since the weight of the article is directly acquired from the second weight detection unit mounted on the unmanned aircraft, the weight applied to the unmanned aircraft can be acquired more accurately. This makes it possible to more accurately determine the overloaded state.

In the take-off and landing system for an unmanned aircraft according to one aspect of the present invention, the unmanned aircraft includes a receiving unit that receives a control signal for controlling flight of the own device, a weight detected by the second weight detecting unit, and a predetermined reference value. And a second control unit that determines whether or not an overloaded state is reached when an article to be delivered is loaded, and the second control unit receives when it is determined that the overloaded state is reached The operation may be prohibited based on the control signal received by the unit.

In this unmanned aircraft take-off and landing system, the second control unit prevents the unmanned aircraft from taking off by controlling itself so as not to take off in the case of overloading. Thereby, cost can be suppressed compared with providing a fixing device or a transmission part. In addition, when the fixing device is used in combination, it is possible to prevent the unmanned aircraft in an overloaded state from taking off more reliably.

An unmanned aerial vehicle takeoff and landing system according to one aspect of the present invention includes a notification unit that notifies a target product that is a product to be picked from a group of products stored in a product shelf, and a reception unit that receives presence or absence of picking of the target product And a weight estimation unit that estimates the total weight of the target product based on the target product received by the reception unit, and the take-off and landing device, the weight acquisition unit from the weight estimation unit to the article You may get the weight of.

This unmanned aerial vehicle takeoff and landing system estimates the weight of articles loaded on the unmanned aerial vehicle based on the presence or absence of picking in the picking process. By storing the weight of each article in advance, the total weight of the article can be estimated as soon as picking is completed. Thereby, since the weight of the goods loaded on the unmanned aerial vehicle can be estimated easily, a system capable of preventing the unloaded unmanned aircraft from taking off can be constructed at low cost.

An unmanned aircraft take-off and landing system according to one aspect of the present invention includes an order receiving unit that receives an order for a product via a network, a product information storage unit that stores product information in which the product and the weight of the product are associated, and product information A weight estimation unit that estimates the total weight of the product based on the order received in the order reception unit, and the take-off and landing device, and the weight acquisition unit includes the weight estimation unit. The weight of the article may be obtained from

This unmanned aerial vehicle takeoff and landing system estimates the weight of an article loaded on the unmanned aerial vehicle based on information on products received via the network. By storing the weight of each product in advance, the total weight of the product can be estimated as soon as the ordered product is determined, that is, as soon as the product to be delivered is determined. Thereby, since the weight of the goods loaded on the unmanned aerial vehicle can be estimated easily, a system capable of preventing the unloaded unmanned aircraft from taking off can be constructed at low cost.

An unmanned delivery system according to one aspect of the present invention is an unmanned delivery system including an unmanned aircraft that delivers an article and a control device that controls the unmanned airplane, and a weight acquisition unit that obtains the weight of the article; A third control unit that determines whether or not an overloaded state is reached when an article to be delivered is loaded based on the weight acquired by the weight acquisition unit and a predetermined reference value; The unit selectively switches between a delivery mode in which the operation mode of the unmanned aerial vehicle can take off and land and a prohibit mode incapable of taking off and landing based on the determination result of whether or not the vehicle is overloaded.

In this unmanned delivery system, the third control unit prevents take-off of the unmanned aircraft by controlling to a prohibit mode incapable of taking off and landing in the case of overloading. Thereby, since the unmanned aircraft in the overload state cannot take off, the unmanned aircraft can be prevented from flying in the overload state.

In the unmanned delivery system according to one aspect of the present invention, the weight acquisition unit and the third control unit may be mounted on an unmanned aircraft.

In the unmanned delivery system according to one aspect of the present invention, a remaining amount acquisition unit that acquires the remaining amount of the energy source of the power source mounted on the unmanned aircraft, the weight of the article loaded on the unmanned aircraft, the remaining amount, A cruising information storage unit that stores cruising information that is a relationship with a cruising distance or cruising time of the unmanned aircraft, and a delivery destination information acquisition unit that obtains a delivery distance or delivery time from the current position to the delivery destination of the article. The third control unit includes the weight of the article acquired by the weight acquisition unit, the remaining amount acquired from the remaining amount acquisition unit, the delivery distance or delivery time acquired from the delivery destination information acquisition unit, and the cruising information Based on the above, it is determined whether or not the unmanned aircraft can navigate to the delivery destination. If it is determined that navigation is not possible, the operation mode may be switched to the prohibit mode, and if it is determined that navigation is possible, the operation mode may be switched to the delivery mode. .

In this unmanned delivery system, not only overloading but also whether or not an unmanned aircraft can navigate to a delivery destination is determined, and the unmanned aircraft is permitted to take off based on the judgment. Thereby, an unmanned aerial vehicle can be navigated more safely.

According to one aspect of the present invention, it is possible to prevent an unmanned aircraft from flying in an overloaded state.

FIG. 1 is a configuration diagram of a take-off and landing system according to the first embodiment. FIG. 2 is a functional block diagram of the take-off and landing system according to the first embodiment. FIG. 3 is a configuration diagram of the take-off and landing system according to the second embodiment. FIG. 4 is a functional block diagram of the take-off and landing system according to the second embodiment. FIG. 5 is a functional block diagram of the take-off and landing system according to the third embodiment. FIG. 6 is a configuration diagram of the take-off and landing system according to the fourth embodiment. FIG. 7 is a functional block diagram of the takeoff and landing system according to the fourth embodiment. FIG. 8 is a configuration diagram of a take-off and landing system according to the fifth embodiment. FIG. 9 is a functional block diagram of the take-off and landing system according to the fifth embodiment. FIG. 10 is a functional block diagram of the unmanned delivery system according to the sixth embodiment.

Hereinafter, an embodiment will be described with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

[First embodiment]
The take-off and landing device 5 according to the first embodiment will be described. The take-off and landing device 5 is a device that is disposed at a place where an unmanned aerial vehicle (UAV: Unmanned Aerial Vehicle) 3 that delivers a package (article) B is taken off and landing. First, the unmanned aerial vehicle 3 will be described.

The unmanned aircraft 3 is an aircraft that can fly unmanned by remote control or automatic control (flight program) based on a control signal transmitted from the transmitter 4. An example of the transmitter 4 is a controller that controls the unmanned aerial vehicle 3 or an antenna that transmits a flight program. When the unmanned aircraft 3 stores a flight program in advance, the antenna may transmit a signal for starting the flight program. As shown in FIG. 1, the unmanned aerial vehicle 3 mainly includes a frame 31, a motor 32, a propeller 33, a communication unit (reception unit) 34, a battery 35, and a flight control unit 37.

The frame 31 supports a motor 32, a propeller 33, a communication unit 34, a battery 35, and a flight control unit 37. Examples of the material forming the frame 31 include nylon and carbon. The motor 32 is a drive source of the propeller 33 and is provided for each propeller 33. The communication unit 34 receives a control signal transmitted from the transmitter 4 that controls the flight of the own device.

The battery 35 supplies power to various parts that require power, such as the motor 32, the communication unit 34, and the flight control unit 37. An example of the battery 35 is a lithium polymer battery. For example, the flight control unit 37 controls the number of rotations of each propeller 33 (the number of rotations of the motor 32) and also controls the relationship between the number of rotations of the plurality of propellers 33. Various controls such as turning left, moving forward, moving backward, and hovering are executed.

Next, the take-off and landing device 5 will be described. As shown in FIG. 1, the take-off and landing device 5 includes, for example, a main body 51 that is installed indoors or outdoors and is fixed to the ground, a landing portion 52 having a flat surface on which the unmanned aircraft 3 can take off and landing, and a weight. A detection unit (first weight detection unit) 53, a fixing device (takeoff prevention unit) 55, and a control unit 60 are provided.

The fixing device 55 is a device that is provided in the landing portion 52 and fixes the frame 31 of the unmanned aircraft 3 to the landing portion 52 to prevent the unmanned aircraft 3 from taking off. The fixing device 55 releases the unmanned aircraft 3 from the first state in which the unmanned aircraft 3 is prevented from taking off by fixing the unmanned aircraft 3 to the landing portion 52 and the unmanned aircraft 3 is fixed to the landing portion 52. It is possible to switch to an allowable second state. Switching between the first state and the second state in the fixing device 55 is executed by the control unit 60. Note that the fixing device 55 may set the state of fixing the unmanned aerial vehicle 3 landing on the landing portion 52 as a default (normal state).

The weight detection unit 53 is disposed below the landing unit 52 and detects the weight of the unmanned aircraft 3 that has landed on the landing unit 52. For the weight detection unit 53, for example, a device using a load cell can be used. The weight acquired by the weight detection unit 53 is output to the control unit 60.

The control unit 60 mainly includes an unillustrated CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), for example, an auxiliary storage device such as an SSD (solid state drive), Have The control unit 60 executes various control processes for taking off the unmanned aircraft 3. As shown in FIG. 2, the control unit 60 includes a weight acquisition unit 60 A as a conceptual part that executes various control processes for taking off the unmanned aircraft 3, a take-off control unit (first control unit) 60 B, Have. Such a conceptual part is configured by, for example, a program stored in the ROM being loaded onto the RAM and executed by the CPU.

The weight acquisition unit 60A acquires the weight of the luggage B delivered by the unmanned aerial vehicle 3. The weight acquisition unit 60A calculates the weight of the load B loaded on the unmanned aerial vehicle 3 based on the weight of the unmanned aircraft 3 stored in advance and the weight detected by the weight detection unit 53. The weight acquisition unit 60A outputs the calculated weight of the load B to the take-off control unit 60B.

The take-off control unit 60B determines that the unmanned aerial vehicle 3 is in an overloaded state based on the weight of the load B calculated by the weight acquisition unit 60A and a reference value for determining whether or not the vehicle is overloaded. It is determined whether or not there is. The takeoff control unit 60B switches the state of the fixing device 55 to the first state or the second state based on whether or not the unmanned aerial vehicle 3 that loads the load B is in an overloaded state. Specifically, the takeoff control unit 60B controls the fixing device 55 so as to maintain the unmanned aircraft 3 fixed (or fix the unmanned aircraft 3 to the landing unit 52) when it is determined that the vehicle is overloaded. When it is determined that the vehicle is not overloaded, the fixing device 55 is controlled so as to release the fixation of the unmanned aircraft 3 (or maintain the fixed release state of the unmanned aircraft 3).

In the take-off and landing device 5 of the first embodiment, the control unit 60 acquires the weight of the load B loaded on the unmanned aircraft 3 that is about to take off from the take-off and landing device 5 and determines that the weight is overloaded from the weight. In this case, the fixing device 55 is controlled so as to fix the unmanned aircraft 3 to the landing portion 52, thereby preventing the unmanned aircraft 3 from taking off. As a result, when the unmanned aircraft 3 delivering the package B is required to take off from a specific take-off and landing device, for example, by law, the unmanned aircraft 3 in an overloaded state is as shown in this embodiment. The take-off and landing device 5 cannot take off. That is, the unmanned aircraft 3 can be prevented from flying in an overloaded state.

In the take-off and landing device 5, as shown in FIG. 1, a fixing device 55 that prevents the unmanned aircraft 3 from taking off by fixing the unmanned aircraft 3 to the landing portion 52 is employed as the take-off prevention portion. That is, in this take-off and landing device 5, even if the unmanned aircraft 3 tries to take off, the unmanned aircraft 3 is physically fixed to the take-off and landing device 5 and cannot take off. Thereby, take-off of the unmanned aircraft 3 in an overloaded state can be prevented with a simple structure.

The weight detection unit 53 of the take-off and landing device 5 is a device that uses a load cell or the like that detects the weight of the unmanned aircraft 3 that has landed on the landing unit 52. In the take-off and landing device 5 having this configuration, the weight of the load B is directly measured by the weight detection unit 53, so that the overloading state can be determined more accurately. Moreover, compared with the weight detection part mounted in the unmanned aerial vehicle 3, a heavy weight can be accurately measured.

The unmanned aerial vehicle 3 described above is a weight detection unit 36 (second weight detection unit) that detects the weight of the load B loaded on the unmanned aircraft 3 in the unmanned aircraft 3 used in the first embodiment (see FIG. 1). ) May be provided. An example of the weight detection unit 36 is a load cell. When the weight detection unit 36 is provided in the unmanned aircraft 3, the control unit 60 in the take-off and landing device 5 acquires the weight of the load B from the weight detection unit 36 and determines whether or not it is in an overloaded state. May be. In this case, the weight acquisition unit 60A acquires the weight of the load B acquired by the weight detection unit 36 by providing the take-off / landing device 5 with the communication unit 57 (see FIG. 3) that can communicate with the unmanned aircraft 3. can do. In this configuration, since the weight of the load B is directly acquired from the weight detection unit 36 mounted on the unmanned aerial vehicle 3, the weight applied to the unmanned aircraft 3 can be more accurately acquired. This makes it possible to more accurately determine the overloaded state.

Further, the control unit 60 has both values of the weight of the load B acquired by the weight detection unit 36 and the weight of the load B acquired by the weight detection unit 53 (for example, an average value of both values or a larger value). The overloaded state may be determined based on the other value.

[Second Embodiment]
Next, the take-off and landing device 5A according to the second embodiment will be described. As shown in FIGS. 3 and 4, the takeoff and landing device 5 A includes a communication unit (transmission unit) 57 instead of removing the fixing device 55 from the configuration of the takeoff and landing device 5 of the first embodiment. The communication unit 57 transmits to the unmanned aircraft 3 an activation signal that activates the flight program or a program stored in advance in the unmanned aircraft 3 (hereinafter, both are referred to as “control signals”). In addition, description is abbreviate | omitted about the location of the structure similar to 1st embodiment.

The take-off control unit 60B permits the transmission of the control signal and the first state in which the communication unit 57 prohibits the transmission of the signal based on whether or not the unmanned aerial vehicle 3 carrying the load B is in an overloaded state. It is possible to switch to the second state. Specifically, when it is determined that the takeoff control unit 60B is in an overloading state, the takeoff control unit 60B prohibits transmission of a control signal from the communication unit 57, and when it is determined that it is not in an overloading state. The control signal is permitted to be transmitted from the communication unit 57.

In the take-off and landing device 5 of the second embodiment, the control unit 60 acquires the weight of the load B loaded on the unmanned aircraft 3 that is about to take off from the take-off and landing device 5 and determines that the weight is overloaded from the weight. In such a case, control is performed so as to prohibit the transmission of the control signal from the communication unit 57, thereby preventing the unmanned aircraft 3 from taking off. That is, unless a control signal is transmitted from the communication unit 57, the communication unit 34 mounted on the unmanned aircraft 3 does not receive the control signal, and the flight control unit 37 does not execute control related to the flight. On the other hand, if a control signal is transmitted from the communication unit 57, the communication unit 34 mounted on the unmanned aircraft 3 receives the control signal, and the flight control unit 37 executes control related to the flight. As a result, when the unmanned aircraft 3 delivering the package B is required to take off from a specific take-off and landing device, for example, by law, the unmanned aircraft 3 in an overloaded state is as shown in this embodiment. The take-off and landing device 5 cannot take off. That is, the unmanned aircraft 3 can be prevented from flying in an overloaded state.

In the take-off and landing device 5A, the communication unit 57 is employed as a take-off prevention unit that prevents the unmanned aircraft 3 from taking off by not transmitting a control signal that causes the unmanned aircraft 3 to perform a flight operation. That is, in this take-off and landing device 5A, since the control signal for taking off the unmanned aircraft 3 is not transmitted, the unmanned aircraft 3 does not take off. Thereby, take-off of the unmanned aircraft 3 in an overloaded state can be prevented with a simple configuration.

The unmanned aerial vehicle 3 according to the second embodiment may include the weight detection unit 36. When the weight detection unit 36 is provided in the unmanned aircraft 3, the control unit 60 in the take-off and landing device 5 determines whether or not it is overloaded based on the weight of the load B acquired by the weight detection unit 36. May be.

[Third embodiment]
Next, the take-off and landing device 5B according to the third embodiment will be described. As shown in FIG. 5, the takeoff and landing device 5B includes the communication unit 57 described in the second embodiment in addition to the configuration of the takeoff and landing device 5 of the first embodiment. The communication unit 57 transmits a control signal to the unmanned aircraft 3. In addition, description is abbreviate | omitted about the location of the structure similar to 1st embodiment and 2nd embodiment.

When it is determined that the take-off control unit 60B is in an overloaded state, the take-off control unit 60B controls the fixing device 55 so as to keep the unmanned aircraft 3 fixed (or fix the unmanned aircraft 3 to the landing unit 52) and the communication unit 57. When the control signal is prohibited from being transmitted and it is determined that the vehicle is not in an overloaded state, the fixing device 55 is configured to release the fixation of the unmanned aircraft 3 (or maintain the fixed release state in the unmanned aircraft 3). And a control signal is permitted to be transmitted from the communication unit 57.

Also in the takeoff and landing apparatus 5B according to the third embodiment, the unmanned aircraft 3 can be prevented from flying in an overloaded state, similarly to the first embodiment and the second embodiment.

Further, in the take-off and landing device 5B, by fixing the unmanned aircraft 3 to the landing portion 52, the fixing device 55 that prevents the unmanned aircraft 3 from taking off, and the control signal that causes the unmanned aircraft 3 to perform a flight operation are not transmitted. Both the communication unit 57 that prevents the unmanned aircraft 3 from taking off are employed as the takeoff prevention unit. Accordingly, even if one of the fixing device 55 and the communication unit 57 is erroneously controlled by the control unit 60, the unmanned aircraft 3 can be prevented from flying in an overloaded state if the other is correctly controlled. .

The unmanned aerial vehicle 3 according to the third embodiment may include the weight detection unit 36. When the weight detection unit 36 is provided in the unmanned aircraft 3, the control unit 60 in the take-off and landing device 5 determines whether or not it is overloaded based on the weight of the load B acquired by the weight detection unit 36. May be.

[Fourth embodiment]
Next, the take-off and landing system 101 according to the fourth embodiment will be described. As shown in FIG. 6, the takeoff and landing system 101 includes an unmanned aerial vehicle 3 described in the first embodiment, a takeoff and landing device 5 C configured by removing the weight detection unit 53 from the takeoff and landing device 5 A of the second embodiment, A server (order reception system) 70. In addition, description is abbreviate | omitted about the same structure as 1st, 2nd and 3rd embodiment.

The order reception server 70 is communicably connected to the control unit 60 via a network. The order receiving server 70 includes a CPU, a ROM, and a RAM (not shown). As shown in FIG. 7, the order receiving server 70 includes an order receiving unit 71 as a conceptual part that executes various control processes for receiving product orders via a network, a product information storage unit 72, A weight estimation unit 73. Such a conceptual part is configured by, for example, a program stored in the ROM being loaded onto the RAM and executed by the CPU.

The order receiving unit 71 receives an order for a product from a terminal device 77 that can be connected via the network N. Examples of the terminal device 77 include a personal computer and a smartphone. The merchandise information storage unit 72 stores merchandise information in which merchandise is associated with the weight of the merchandise. Examples of the product information storage unit 72 include, for example, an HDD (hard disk drive) and an SSD (solid state drive). The weight estimation unit 73 estimates the total weight of the product based on the product information and the product for which the order has been received by the order reception unit.

The package B delivered by the unmanned aerial vehicle 3 is received by the order receiving unit 71 and associated with the weight estimated by the weight estimating unit 73. The weight acquisition unit 60A acquires the weight of the luggage B delivered by the unmanned aerial vehicle 3 from the weight estimation unit 73. The weight acquisition unit 60A outputs the calculated weight of the load B to the take-off control unit 60B.

The takeoff control unit 60B determines that the unmanned aircraft 3 is in an overloaded state based on the weight of the load B estimated by the weight estimating unit 73 and a reference value for determining whether or not the vehicle is overloaded. It is determined whether or not there is. The take-off control unit 60B prohibits transmission of a control signal from the communication unit 57 when it is determined that the vehicle is overloaded, and controls from the communication unit 57 when it is determined that the vehicle is not overloaded. Allows the signal to be transmitted. That is, unless a control signal is transmitted from the communication unit 57, the communication unit 34 mounted on the unmanned aircraft 3 does not receive the control signal, and the flight control unit 37 does not execute control related to the flight. On the other hand, if a control signal is transmitted from the communication unit 57, the communication unit 34 mounted on the unmanned aircraft 3 receives the control signal, and the flight control unit 37 executes control related to the flight.

Also in the takeoff and landing system 101 according to the fourth embodiment, it is possible to prevent the unmanned aircraft 3 from flying in an overloaded state, as in the first, second and third embodiments. Further, in the take-off and landing system 101, the cost can be suppressed as compared with the configuration in which the weight detection unit 36 is provided in each unmanned aircraft 3 or the weight detection unit 53 is provided in the take-off and landing device 5.

It should be noted that the unmanned aerial vehicle 3 of the fourth embodiment may include the weight detection unit 36. Further, the weight detection unit 53 may be provided in the take-off and landing device 5C. In these cases, the unmanned aircraft 3 is overloaded in consideration of the weight of the load B acquired by at least one of the weight detection unit 36 and the weight detection unit 53 in addition to the weight of the load B acquired by the weight estimation unit 73. It may be determined whether or not this is the state.

[Fifth embodiment]
Next, the take-off and landing system 201 according to the fourth embodiment will be described. As shown in FIG. 8, the takeoff and landing system 201 includes an unmanned aerial vehicle 3 described in the first embodiment, a takeoff and landing device 5C configured by removing the weight detection unit 53 from the takeoff and landing device 5A of the second embodiment, and a picking device. 80. In addition, description is abbreviate | omitted about the same structure as 1st, 2nd and 3rd embodiment.

The picking device 80 is a device that supports picking work, and displays the product name, quantity, and the like to be picked for the worker on the display unit 83 and the like, and manages whether or not the picking work is actually picked by the worker. It is. The picking device 80 is communicably connected to the control unit 60 via a network. As shown in FIG. 9, the picking device 80 includes a display unit 83 and a control unit 81.

The control unit 81 includes a CPU, a ROM, and a RAM (not shown). The control unit 81 includes a notification unit 81A, a reception unit 81B, and a weight estimation unit 81C as conceptual portions that execute various control processes for supporting picking. Such a conceptual part is configured by, for example, a program stored in the ROM being loaded onto the RAM and executed by the CPU.

The notification unit 81A notifies the product information (product name, quantity, etc.) regarding the product to be picked from the product group accommodated in the product shelf. The notification unit 81A notifies the worker by displaying the product information on the display unit 83. The receiving unit 81B receives the presence / absence of picking of the target product. The accepting unit 81B includes, for example, a scanner, and accepts that picking is completed by scanning a picked product with the scanner. The weight estimation unit 81C estimates the total weight of the target product based on the target product received by the reception unit 81B. The weight estimation unit 81C sends the estimated total weight of the target product to the control unit 60 of the take-off and landing device 5C.

The display unit 83 is, for example, a liquid crystal display or a touch panel display, and product information (product name, quantity, etc.) is displayed under the control of the notification unit 81A.

The product picked by the picking device 80 is received by the control unit 81 as a package B delivered by the unmanned aerial vehicle 3, and is associated with the weight estimated by the weight estimation unit 81C. The weight acquisition unit 60A acquires the weight of the luggage B delivered by the unmanned aerial vehicle 3 from the weight estimation unit 81C. The weight acquisition unit 60A outputs the acquired weight of the load B to the take-off control unit 60B.

The takeoff control unit 60B determines that the unmanned aerial vehicle 3 is in an overloaded state based on the weight of the load B estimated by the weight estimating unit 81C and a reference value for determining whether or not the vehicle is overloaded. It is determined whether or not there is. The take-off control unit 60B prohibits transmission of a control signal from the communication unit 57 when it is determined that the vehicle is overloaded, and controls from the communication unit 57 when it is determined that the vehicle is not overloaded. Allows the signal to be transmitted.

Also in the takeoff and landing system 201 according to the fifth embodiment, it is possible to prevent the unmanned aircraft 3 from flying in an overloaded state, as in the first, second, third and fourth embodiments. Further, in the take-off and landing system 201, the cost can be suppressed as compared with the configuration in which the weight detection unit 36 is provided in each unmanned aircraft 3 or the weight detection unit 53 is provided in the take-off and landing device 5.

Note that the unmanned aerial vehicle 3 of the fifth embodiment may include the weight detection unit 36. Further, the weight detection unit 53 may be provided in the take-off and landing device 5C. In these cases, the unmanned aircraft 3 is overloaded in consideration of the weight of the load B acquired by at least one of the weight detection unit 36 and the weight detection unit 53 in addition to the weight of the load B acquired by the weight estimation unit 81C. It may be determined whether or not this is the state.

[Sixth embodiment]
Next, an unmanned delivery system 301 according to the sixth embodiment will be described with reference to FIGS. 1 and 10. As shown in FIG. 10, the unmanned delivery system 301 includes an unmanned aircraft 303 and a control device. The unmanned aircraft 303 delivers the package B from a predetermined position (for example, a delivery center) to the residence of the orderer. The unmanned aircraft 303 includes a weight detector 36 that detects the weight of the load B loaded on the unmanned aircraft 3 in addition to the configuration of the unmanned aircraft 3 described in the first embodiment. An example of the weight detection unit 36 is a load cell. The control device in the sixth embodiment is a flight control unit 337 mounted on the unmanned aerial vehicle 303, and controls the flight of the unmanned aircraft 303. In addition, the flight control unit 337 executes not only the flight control in the unmanned aircraft 303, but also the switching of the operation mode based on the presence or absence of an overload state as described later.

The flight control unit 337 includes an unillustrated CPU, ROM, and RAM. The flight control unit 337 executes various control processes for taking off the unmanned aircraft 303. The flight control unit 337 includes a weight acquisition unit 337A and a take-off control unit 337B as conceptual parts that execute various control processes for taking off the unmanned aircraft 303. Such a conceptual part is configured by, for example, a program stored in the ROM being loaded onto the RAM and executed by the CPU.

The weight acquisition unit 337A acquires the weight of the luggage B delivered by the unmanned aircraft 303. The weight acquisition unit 337A acquires the weight of the luggage B from the weight detection unit 36. The weight acquisition unit 337A outputs the acquired weight of the luggage B to the take-off control unit 337B.

The take-off control unit (second control unit / third control unit) 337B becomes overloaded when the package B to be delivered is loaded based on the weight acquired by the weight acquisition unit 337A and a predetermined reference value. It is determined whether or not. The take-off control unit 337B selectively switches the operation mode of the unmanned aircraft 303 between a delivery mode in which the unmanned aircraft 303 can take off and land and a prohibit mode in which the take-off and landing cannot be performed, based on the determination result of whether or not the vehicle is overloaded.

In the unmanned aerial vehicle 303 of the sixth embodiment, the take-off control unit 337B prevents the unmanned aircraft 303 from taking off by controlling to a prohibition mode incapable of taking off and landing in an overloaded state. As a result, the unmanned aircraft 303 in an overloaded state cannot take off, so that the unmanned aircraft 303 can be prevented from flying in an overloaded state. The determination of whether or not the takeoff control unit 337B is in an overloaded state may be performed at the timing when the load B is loaded, or may be performed at the timing when the unmanned aircraft 3A is about to fly.

In the sixth embodiment, the example in which the weight acquisition unit 337A and the takeoff control unit 337B are mounted on the unmanned aircraft 303 has been described. However, for example, the distribution center or the first to fifth embodiments described above has been described. You may arrange | position to the take-off and

landing apparatus

5, 5A, 5B, 5C. Moreover, although the weight acquisition part 337A gave and demonstrated the example which acquires the weight of the load B from the weight detection part 36 mounted in the unmanned aircraft 303, for example, it is arrange | positioned at the takeoff and landing apparatus 5 like 1st embodiment. The weight of the package B may be acquired from the weight detection unit 53, or the weight of the package B may be acquired from the weight estimation unit 73 of the order reception server 70 as in the fourth embodiment. The weight of the load B may be acquired from the weight estimation unit 81C of the picking device 80 as in the fifth embodiment.

Although one embodiment of one aspect of the present invention has been described above, one aspect of the present invention is not limited to the above embodiment.

The

takeoff control units

60B and 337B of the first to sixth embodiments described above are based on a simple comparison between the reference value for determining overloading and the weight value of the load B acquired by the

weight detection units

36 and 53. However, the present invention is not limited to this. For example, it may be determined whether or not the vehicle is overloaded based on a comparison between a reference value changed according to weather information (wind speed, weather), flight route, type of baggage, and the like and a weight value of the baggage B. .

For example, when the package B is delivered by the unmanned aerial vehicle 3, it may be determined whether it is possible to continue to the delivery destination as well as overloading. In this case, the unmanned aerial vehicle 3,303 or the take-off and

landing system

101, 201 is connected to the power source mounted on the unmanned aerial vehicle 3,303 as shown in FIGS. 2, 4, 5, 7, 9, 10, for example. The remaining amount acquisition unit 91 for acquiring the remaining amount of the energy source, the weight of the load B loaded on the unmanned aircraft 3,303, the remaining amount of the energy source, and the cruising distance or cruising time of the unmanned aircraft 3,303 A cruising information storage unit 92 that stores cruising information as a relationship, and a delivery destination information acquisition unit 93 that acquires a delivery distance or delivery time from the current position to the delivery destination of the package B are further provided.

Examples of power sources include motors and engines, and examples of energy sources include power and fuel. The remaining amount acquisition unit 91 can acquire the remaining amount from known means such as a detection device or a sensor that detects the amount of electric power stored in the battery 35 or the remaining amount of fuel stored in the fuel tank.

The take-

off control units

60B and 337B acquire the weight of the load B acquired by the

weight acquisition units

60A and 337A, the remaining amount of the energy source acquired from the remaining amount acquisition unit 91, and the delivery destination information acquisition unit 93. Based on the delivered delivery distance or delivery time and the cruising information, it may be determined whether or not the unmanned aircraft 3,303 can navigate to the delivery destination. The take-

off control units

60B and 337B switch the state in the take-off prevention unit (at least one of the fixing device 55 and the communication unit 57) to the non-navigable state (prohibition mode) if it is determined that navigation is not possible, and the above if it is determined that navigation is possible The state in the take-off prevention unit is switched to a navigable state (delivery mode).

Examples of cruising information include table information and relational expressions obtained from experiments and the like. That is, if the

takeoff control units

60B and 337B acquire the weight of the load B and the remaining amount of the energy source from the

weight acquisition units

60A and 337A and the remaining amount acquisition unit 91, respectively, based on the table information and the relational expression. The cruising distance or cruising time of the unmanned aircraft 3,303 can be directly derived. Then, the

takeoff control units

60B and 337B compare the cruising distance or cruising time derived in this way with the delivery distance or delivery time acquired from the delivery destination information acquisition unit 93, and send the package B to the delivery destination. It is determined whether or not conveyance is possible.

Further, the cruising information storage unit 92 may store a relational expression or table information that, for example, when a 100 g load B is loaded and transported, the cruising time is shortened by 1 minute compared to the reference cruising time. This relational expression may be a linear relation, and the table information may be a two-dimensional table obtained from an experiment or the like. In this case, the

takeoff control units

60B and 337B can indirectly derive the time that can be continued when the load B is not loaded from the remaining amount of the energy source. For example, the take-

off control units

60B and 337B determine that 60 minutes of cruising is possible when the load B is not loaded. Next, the

takeoff control units

60B and 337B determine that the cruising time is shortened by 5 minutes compared to the reference cruising time when acquiring that the weight of the load B related to transportation is, for example, 500 g. Accordingly, the

takeoff control units

60B and 337B correct the actual cruising time to 55 minutes by correcting the initial cruising time of 60 minutes. The

takeoff control units

60B and 337B may determine whether the package B can be transported to the delivery destination based on the corrected cruising time and the delivery time acquired from the delivery destination information acquisition unit 93.

DESCRIPTION OF SYMBOLS 3,303 ... Unmanned aerial vehicle, 34 ... Communication part, 36 ... Weight detection part (2nd weight detection part), 37 ... Flight control part, 5, 5A, 5B, 5C ... Takeoff and landing apparatus, 51 ... Main-body part, 52 ... Landing , 53 ... Weight detector (first weight detector), 55 ... Fixing device, 57 ... Communication unit (transmitter), 60 ... Controller, 60A ... Weight acquisition unit, 60B ... Takeoff controller (first controller) ), 70 ... Order reception server, 71 ... Order reception part, 72 ... Product information storage part, 73 ... Weight estimation part, 80 ... Picking device, 81 ... Control part, 81A ... Notification part, 81B ... Reception part, 81C ...

Weight Estimator

101, 201 ... Takeoff / landing system 301 ... Unmanned delivery system B ... Luggage (article) 337 ... Flight controller 337A ... Weight acquisition unit 337B ... Takeoff controller (second controller / third controller) ).

Claims

A take-off and landing device for taking off and landing of unmanned aerial vehicles that deliver goods,
A take-off prevention unit capable of switching between a first state in which the unmanned aircraft is prevented from taking off from its own device and a second state in which the unmanned aircraft is not blocked;
A weight acquisition unit for acquiring the weight of the article delivered by the unmanned aerial vehicle;
Based on the weight of the article acquired by the weight acquisition unit and a reference value for determining whether it is overloaded or not, a first state that switches the state in the take-off prevention unit to the first state or the second state A take-off and landing device comprising a control unit.
The takeoff prevention unit is a fixing device that fixes the unmanned aircraft to the own device,
The said fixing device can be switched between the first state in which the unmanned aircraft is fixed to the own device and the second state in which the unmanned aircraft is released from being fixed to the own device. Take-off and landing equipment.
The takeoff prevention unit is a transmission unit that transmits a control signal that causes the unmanned aircraft to perform a flight operation,
The take-off and landing device according to claim 1 or 2, wherein the transmission unit is switchable between the first state in which transmission of the control signal is prohibited and the second state in which transmission of the control signal is permitted.
A first weight detector for measuring the weight of the article to be delivered;
The take-off and landing device according to any one of claims 1 to 3, wherein the weight acquisition unit acquires the weight of the article from the first weight detection unit.
A remaining amount acquisition unit for acquiring a remaining amount of an energy source of a power source mounted on the unmanned aircraft;
A cruising information storage unit that stores cruising information that is a relationship between the weight of an article loaded on the unmanned aircraft, the remaining amount, and the cruising distance or cruising time of the unmanned aircraft;
A delivery destination information acquisition unit for acquiring a delivery distance or delivery time from the current position to the delivery destination of the article,
The first control unit includes the weight of the article acquired by the weight acquisition unit, the remaining amount acquired from the remaining amount acquisition unit, and the delivery distance acquired from the delivery destination information acquisition unit or the Based on the delivery time and the cruising information, it is determined whether or not the unmanned aircraft can navigate to the delivery destination, and if it is determined that navigation is not possible, the state in the take-off prevention unit is switched to the first state, and navigation is performed. The take-off and landing device according to any one of claims 1 to 4, wherein when it is determined that the state is possible, the state in the take-off prevention unit is switched to the second state.
An unmanned aerial vehicle that has a second weight detection unit that measures the weight of an article to be delivered and delivers the article by flying based on a control signal that controls the flight of the own device;
A take-off and landing device according to any one of claims 1 to 5,
The weight acquisition unit is a take-off and landing system that acquires the weight of the article from the second weight detection unit.
The unmanned aircraft
A receiving unit for receiving a control signal for controlling the flight of the own device;
A second control unit that determines, based on the weight detected by the second weight detection unit and a predetermined reference value, whether or not the article to be delivered is overloaded. ,
The takeoff and landing system according to claim 6, wherein, when it is determined that the second control unit is in an overloaded state, the second control unit prohibits operation based on the control signal received by the receiving unit.
Based on the notification unit that notifies the target product that is a product to be picked from the product group accommodated in the product shelf, the reception unit that receives presence or absence of picking of the target product, and the target product received in the reception unit A weight estimating unit for estimating the total weight of the target product, and a picking device having
The take-off and landing device according to any one of claims 1 to 5,
The weight acquisition unit is a take-off and landing system that acquires the weight of the article from the weight estimation unit.
An order receiving unit that receives an order for a product via a network, a product information storage unit that stores product information in which the product and the weight of the product are associated, and a product that has received an order in the product information and the order receiving unit A weight estimation unit that estimates the total weight of the product based on
The take-off and landing device according to any one of claims 1 to 5,
The weight acquisition unit is a take-off and landing system that acquires the weight of the article from the weight estimation unit.
An unmanned delivery system comprising an unmanned aircraft for delivering an article and a control device for controlling the unmanned aircraft,
A weight acquisition unit for acquiring the weight of the article;
A third control unit that determines whether or not an overloading state occurs when the article to be delivered is loaded based on the weight acquired by the weight acquisition unit and a predetermined reference value;
The third control unit selectively switches between a delivery mode in which the operation mode in the unmanned aircraft can take off and landing and a prohibit mode in which the takeoff and landing cannot be performed, based on a determination result of whether or not the overloading state occurs. Unmanned delivery system.
The unmanned delivery system according to claim 10, wherein the weight acquisition unit and the third control unit are mounted on the unmanned aircraft.
A remaining amount acquisition unit for acquiring a remaining amount of an energy source of a power source mounted on the unmanned aircraft;
A cruising information storage unit that stores cruising information that is a relationship between the weight of an article loaded on the unmanned aircraft, the remaining amount, and the cruising distance or cruising time of the unmanned aircraft;
A delivery destination information acquisition unit for acquiring a delivery distance or delivery time from the current position to the delivery destination of the article,
The third control unit includes the weight of the article acquired by the weight acquisition unit, the remaining amount acquired from the remaining amount acquisition unit, and the delivery distance acquired from the delivery destination information acquisition unit or the Based on the delivery time and the cruising information, it is determined whether or not the unmanned aircraft can navigate to the delivery destination. If it is determined that navigation is not possible, the operation mode is switched to the prohibit mode and it is determined that navigation is possible. The unattended delivery system according to claim 10 or 11, wherein the operation mode is switched to the delivery mode.